CN-121977049-A - Speed reducer

CN121977049ACN 121977049 ACN121977049 ACN 121977049ACN-121977049-A

Abstract

The invention discloses a speed reducer, and relates to the technical field of motor driving. The speed reducer comprises a fixed seat, a speed reducing structure and a power piece, wherein the fixed seat is provided with a first mounting surface, the speed reducing structure is arranged on the first mounting surface, one end of the speed reducing structure, which is away from the first mounting surface, is in transmission connection with a wrist joint of the manipulator, the power piece is in transmission connection with the speed reducing structure, and the speed reducing structure and the power piece are arranged side by side in the extending direction of the first mounting surface. The technical scheme provided by the invention reduces the axial size of the speed reducer and keeps the torque-increasing transmission performance of the speed reducer, so that the speed reducer can be better adapted to a compact installation environment.

Inventors

TAO YULONG
TAO LEI
Tao Zekai

Assignees

陶世智能科技(深圳)有限公司

Dates

Publication Date: 20260505
Application Date: 20260304

Claims (10)

1. A speed reducer for a manipulator, comprising: the fixing seat is provided with a first mounting surface; a speed reducing structure arranged on the first mounting surface, one end of the speed reducing structure facing away from the first mounting surface is in transmission connection with the wrist joint of the manipulator, and And the power piece is in transmission connection with the speed reducing structure, and the speed reducing structure and the power piece are arranged side by side in the extending direction of the first mounting surface.
2. The speed reducer of claim 1, wherein the speed reducing structure comprises a speed reducing housing, a high-speed reducing group and a low-speed reducing group which are arranged in the speed reducing housing, the speed reducing housing is arranged on the first mounting surface, and the power piece, the high-speed reducing group, the low-speed reducing group and the wrist joint are sequentially in transmission connection.
3. The speed reducer of claim 2, wherein the speed reducer housing comprises a first shell and a second shell which are axially arranged and connected, the first shell is arranged on the first mounting surface and internally provided with a first containing cavity, the second shell is internally provided with a second containing cavity, and the second containing cavity is communicated with the first containing cavity; The high-speed reduction group is arranged in the first accommodating cavity, and the low-speed reduction group is arranged in the second accommodating cavity.
4. A speed reducer as defined in claim 3 wherein said high speed reduction group comprises: The input gear shaft is arranged parallel to the rotation axis of the power piece, and one end of the input gear shaft is in transmission connection with the power piece; A first gear, a positioning shaft is convexly arranged on the cavity wall of the first accommodating cavity, the positioning shaft and the input gear shaft are arranged side by side, the first gear is rotationally sleeved on the positioning shaft and meshed with the input gear shaft; A first intermediate gear shaft, one end of which is coaxial with and fixedly connected with the first gear, the other end of which is rotationally embedded into the outer wall of the second shell, and And one end of the second gear is coaxially and rotationally connected with the other end of the input gear shaft, the other end of the second gear is connected with the low-speed reduction group, and the second gear is meshed with the first intermediate gear shaft.
5. The speed reducer of claim 4, wherein said low speed gear set comprises: one end of the second intermediate gear shaft is coaxial with the second gear and is fixedly connected with the second gear, the second shell is provided with a baffle plate positioned in the second accommodating cavity, and the other end of the second intermediate gear shaft is rotationally embedded into one side of the baffle plate; a third intermediate gear shaft which is rotatably embedded in the cavity wall of the second accommodating cavity at one end far away from the first shell; a third gear coaxially and fixedly arranged at one end of the third intermediate gear shaft close to the first shell, the third gear meshed with the second intermediate gear shaft, and The output gear shaft is in transmission connection with the wrist joint at one end far away from the first shell, one end, close to the first shell, of the output gear shaft is rotationally embedded into the other side of the partition plate, and the output gear shaft is meshed with the third intermediate gear.
6. The speed reducer of claim 4, wherein said high-speed reduction group further comprises a first bearing, and said input gear shaft and said second gear, said first gear and said positioning shaft, and said first intermediate gear shaft and an outer wall of said second housing are all rotatably connected by said first bearing.
7. The speed reducer of claim 5, wherein said first housing is integrally formed with said positioning shaft, and/or The second shell and the partition board are integrally formed and arranged, and/or The first shell and/or the second shell is/are internally provided with a weight-reducing cavity, and/or The first shell is welded with the second shell, and/or The fixed seat is welded with the power piece and/or the first shell.
8. A speed reducer according to claim 4, the speed reducer is characterized by further comprising: The first transmission structure is arranged on the fixing seat and is in transmission connection with the power piece and the input gear shaft.
9. The speed reducer of claim 8, wherein the first transmission structure comprises: the first transmission gear is rotationally arranged on the fixed seat and fixedly sleeved on the output shaft of the power piece; a second transmission gear rotatably arranged on the fixed seat and fixedly sleeved on the input gear shaft, and The third transmission gear is rotationally arranged on the fixed seat and positioned between the first transmission gear and the second transmission gear, and is meshed with the first transmission gear and the second transmission gear.
10. The speed reducer of claim 9, wherein the first mounting surface is provided with a first mounting groove for mounting the first transmission gear and a second mounting groove for mounting the second transmission gear at intervals, a third mounting groove for mounting the third transmission gear is arranged on the side, opposite to the first mounting surface, of the fixing seat, and the third mounting groove is positioned between the first mounting groove and the second mounting groove and is communicated with the second mounting groove and the first mounting groove; the speed reducer further comprises a cover plate, and the cover plate is arranged on the fixing seat and covers the notch of the third mounting groove.

Description

Speed reducer Technical Field The invention relates to the technical field of motor driving, in particular to a speed reducer. Background The speed reducer mainly converts high-speed low-torque output of the motor into low-speed high-torque output so as to meet the requirements of various actuating mechanisms on power transmission. The traditional speed reducer generally adopts a mode that a motor and a speed reducer are axially and serially arranged, namely, a motor output shaft and a speed reducer input shaft are directly connected through a coupler, or a motor flange and a speed reducer shell are in butt joint installation, and the layout mode is simple in structure, but can lead to larger axial size of the whole machine, is difficult to be applied to application scenes with limited space, and is particularly difficult to be applied to modern equipment such as compact and integrated cooperative robot joints, humanoid robot limb drives, aerospace servo mechanisms, new energy automobile hub drives and the like. Disclosure of Invention The invention mainly aims to provide a speed reducer, which aims to reduce the axial size of the speed reducer and maintain the torque-increasing transmission performance of the speed reducer, so that the speed reducer can be better adapted to a compact installation environment. In order to achieve the above object, the present invention provides a speed reducer for a manipulator, including: the fixing seat is provided with a first mounting surface; a speed reducing structure arranged on the first mounting surface, one end of the speed reducing structure facing away from the first mounting surface is in transmission connection with the wrist joint of the manipulator, and And the power piece is in transmission connection with the speed reducing structure, and the speed reducing structure and the power piece are arranged side by side in the extending direction of the first mounting surface. In an embodiment, the speed reducing structure comprises a speed reducing housing, a high-speed reducing group and a low-speed reducing group, wherein the high-speed reducing group and the low-speed reducing group are arranged in the speed reducing housing, the speed reducing housing is arranged on the first mounting surface, and the power piece, the high-speed reducing group, the low-speed reducing group and the wrist joint are sequentially in transmission connection. In an embodiment, the speed reduction housing includes a first housing and a second housing which are arranged along an axial direction and are connected, the first housing is arranged on the first mounting surface and is internally provided with a first containing cavity, the second housing is internally provided with a second containing cavity, and the second containing cavity is communicated with the first containing cavity; The high-speed reduction group is arranged in the first accommodating cavity, and the low-speed reduction group is arranged in the second accommodating cavity. In one embodiment, the high-speed reduction group includes: The input gear shaft is arranged parallel to the rotation axis of the power piece, and one end of the input gear shaft is in transmission connection with the power piece; A first gear, a positioning shaft is convexly arranged on the cavity wall of the first accommodating cavity, the positioning shaft and the input gear shaft are arranged side by side, the first gear is rotationally sleeved on the positioning shaft and meshed with the input gear shaft; A first intermediate gear shaft, one end of which is coaxial with and fixedly connected with the first gear, the other end of which is rotationally embedded into the outer wall of the second shell, and And one end of the second gear is coaxially and rotationally connected with the other end of the input gear shaft, the other end of the second gear is connected with the low-speed reduction group, and the second gear is meshed with the first intermediate gear shaft. In one embodiment, the low speed gear set includes: one end of the second intermediate gear shaft is coaxial with the second gear and is fixedly connected with the second gear, the second shell is provided with a baffle plate positioned in the second accommodating cavity, and the other end of the second intermediate gear shaft is rotationally embedded into one side of the baffle plate; a third intermediate gear shaft which is rotatably embedded in the cavity wall of the second accommodating cavity at one end far away from the first shell; a third gear coaxially and fixedly arranged at one end of the third intermediate gear shaft close to the first shell, the third gear meshed with the second intermediate gear shaft, and The output gear shaft is in transmission connection with the wrist joint at one end far away from the first shell, one end, close to the first shell, of the output gear shaft is rotationally embedded into the other side of the partition plate, and the output gear s